The ability for agents to localize themselves in an unknown environment with no
prior infrastructure (e.g., GPS) is a key capability for autonomous operations
of multiple agents (see fig:eyecatcher). Visual-Inertial Odometry (VIO) [1]}, [2]}
is one navigation alternative that the Ingenuity Mars Helicopter utilizes to
estimate its pose during flights [3]}. Additionally,
pre-cursors to the CADRE mission, such as the Autonomous-PUFFER research task
[4]}, have demonstrated the ability of multiple agents to exchange
information while performing localization to improve their overall estimate by
working together while exploring their work area.
